A Real Time Collision Avoidance Algorithm for Mobile Robot based on Elastic Force
This present paper proposes the modified Elastic Strip
method for mobile robot to avoid obstacles with a real time system in
an uncertain environment. The method deals with the problem of
robot in driving from an initial position to a target position based on
elastic force and potential field force. To avoid the obstacles, the
robot has to modify the trajectory based on signal received from the
sensor system in the sampling times. It was evident that with the
combination of Modification Elastic strip and Pseudomedian filter to
process the nonlinear data from sensor uncertainties in the data
received from the sensor system can be reduced. The simulations and
experiments of these methods were carried out.
[1] P. Moravec, "Certainty Grids for Mobile Robots", Proceedings of the
NASA/JPL Space Telerobotics Workshop, Vol. 3, January 1987, pp.
307~312.
[2] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile
robot", The Int. Journal Robotics Research, Vol. 5, No. 1, 1986.
[3] J.Borenstein and Y. Koren, "The vector field histogram-fast obstacle
avoidance for mobile robot", IEEE Trans. Robotics Automate., Vol. 7,
No. 3, June 1991, pp.278~288.
[4] O. Khatib, "Motion coordination and reactive control of autonomous
multi-manipulator system", Journal of Robotic Systems, Vol. 15, No. 4,
1996, pp. 300~319.
[5] O. Khatib, "Robot In Human Environments: basic Autonomous
Capabilities", The International journal of Robotics Research, Vol. 18,
No. 7, 1999, pp. 684~696.
[6] Kyung-Hyun Choi, Su-Jeong Cho, Byung-Kook Kim, "A Study on
Behavior-based Hybrid Control For elderly Assistant Robot", The 1st
Korean-Austrian Automation Day, May 2006, pp.153~161.
[7] Borda, Robert P. and James D. Frost, Jr., "Error reduction in small
sample averaging through the use of the median rather than the mean."
Electroenceph Clin Neurophysiol, vol. 25, 1968, pp. 391-392.
[8] Tukey, J. W. Exploratory Data Analysis. Reading, MA: Addison-
Wesley, 1971. 30. Rosenfeld, Azriel and Avinash C. Kak. Digital
Picture Processing. Orlando: Academic, 1982.
[9] Nodes, Thomas A. and Neal C. Gallagher, Jr., "The output distribution
of median type filters." IEEE Trans Commun, v. COM-32 n, May 1984,
pp. 532-541. 79
[10] Nodes, Thomas A. and Neal C. Gallagher, Jr., "Median filters: some
modifications and their properties." IEEE Trans Acoust Speech Signal
Process, v. ASSP-30 n., November 1982, pp. 739-746.
[11] Pratt, William K., Ted J. Cooper, and Ihtisham Kabir, "Pseudomedian
filter." Proc SPIE, v. 534, 1985, pp. 34-43.
[12] Nak Yong Ko, Reid G. Simmons, and Dong Jin Seo, , "Trajectory
Modification Using Elastic Force for Collision Avoidance of a Mobile
Manipulator", PRICAI Workshop., Aug 2006, pp. 1214~1224.
[1] P. Moravec, "Certainty Grids for Mobile Robots", Proceedings of the
NASA/JPL Space Telerobotics Workshop, Vol. 3, January 1987, pp.
307~312.
[2] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile
robot", The Int. Journal Robotics Research, Vol. 5, No. 1, 1986.
[3] J.Borenstein and Y. Koren, "The vector field histogram-fast obstacle
avoidance for mobile robot", IEEE Trans. Robotics Automate., Vol. 7,
No. 3, June 1991, pp.278~288.
[4] O. Khatib, "Motion coordination and reactive control of autonomous
multi-manipulator system", Journal of Robotic Systems, Vol. 15, No. 4,
1996, pp. 300~319.
[5] O. Khatib, "Robot In Human Environments: basic Autonomous
Capabilities", The International journal of Robotics Research, Vol. 18,
No. 7, 1999, pp. 684~696.
[6] Kyung-Hyun Choi, Su-Jeong Cho, Byung-Kook Kim, "A Study on
Behavior-based Hybrid Control For elderly Assistant Robot", The 1st
Korean-Austrian Automation Day, May 2006, pp.153~161.
[7] Borda, Robert P. and James D. Frost, Jr., "Error reduction in small
sample averaging through the use of the median rather than the mean."
Electroenceph Clin Neurophysiol, vol. 25, 1968, pp. 391-392.
[8] Tukey, J. W. Exploratory Data Analysis. Reading, MA: Addison-
Wesley, 1971. 30. Rosenfeld, Azriel and Avinash C. Kak. Digital
Picture Processing. Orlando: Academic, 1982.
[9] Nodes, Thomas A. and Neal C. Gallagher, Jr., "The output distribution
of median type filters." IEEE Trans Commun, v. COM-32 n, May 1984,
pp. 532-541. 79
[10] Nodes, Thomas A. and Neal C. Gallagher, Jr., "Median filters: some
modifications and their properties." IEEE Trans Acoust Speech Signal
Process, v. ASSP-30 n., November 1982, pp. 739-746.
[11] Pratt, William K., Ted J. Cooper, and Ihtisham Kabir, "Pseudomedian
filter." Proc SPIE, v. 534, 1985, pp. 34-43.
[12] Nak Yong Ko, Reid G. Simmons, and Dong Jin Seo, , "Trajectory
Modification Using Elastic Force for Collision Avoidance of a Mobile
Manipulator", PRICAI Workshop., Aug 2006, pp. 1214~1224.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:49964", author = "Kyung Hyun and Choi and Minh Ngoc and Nong and M. Asif Ali and Rehmani", title = "A Real Time Collision Avoidance Algorithm for Mobile Robot based on Elastic Force", abstract = "This present paper proposes the modified Elastic Strip
method for mobile robot to avoid obstacles with a real time system in
an uncertain environment. The method deals with the problem of
robot in driving from an initial position to a target position based on
elastic force and potential field force. To avoid the obstacles, the
robot has to modify the trajectory based on signal received from the
sensor system in the sampling times. It was evident that with the
combination of Modification Elastic strip and Pseudomedian filter to
process the nonlinear data from sensor uncertainties in the data
received from the sensor system can be reduced. The simulations and
experiments of these methods were carried out.", keywords = "Collision avoidance, Avoidance obstacle, Elastic
Strip, Real time collision avoidance.", volume = "2", number = "5", pages = "591-4", }